CN109465844B - Heavy-duty hydraulic mechanical claw with double degrees of freedom - Google Patents
Heavy-duty hydraulic mechanical claw with double degrees of freedom Download PDFInfo
- Publication number
- CN109465844B CN109465844B CN201811615072.1A CN201811615072A CN109465844B CN 109465844 B CN109465844 B CN 109465844B CN 201811615072 A CN201811615072 A CN 201811615072A CN 109465844 B CN109465844 B CN 109465844B
- Authority
- CN
- China
- Prior art keywords
- oil
- direct
- chuck
- acting
- ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000000078 claw Anatomy 0.000 title claims abstract description 44
- 230000003068 static effect Effects 0.000 claims abstract description 28
- 239000003921 oil Substances 0.000 claims description 136
- 230000009471 action Effects 0.000 claims description 18
- 230000003993 interaction Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 239000010687 lubricating oil Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000003754 machining Methods 0.000 claims 3
- 238000005452 bending Methods 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
Abstract
The invention discloses a heavy-duty hydraulic mechanical claw with double degrees of freedom, which comprises a clamping assembly, a direct-acting driving assembly and a rotary driving assembly; the clamping assembly is used for being in direct contact with an operated object to provide clamping force; the direct-acting driving assembly realizes the degree of freedom of direct-acting; the rotation driving assembly realizes rotation freedom degree; the clamping assembly comprises two parts which are vertically symmetrical, each part comprises a chuck, a chuck connecting rod and a chuck auxiliary rod, and the two parts are connected through a direct-acting connecting rod; the direct-acting driving assembly is arranged in the direct-acting driving shell and comprises a bracket, a static oil ring, an oil moving ring, a piston and a piston rod; the rotary driving assembly comprises a swinging cylinder, a swinging cylinder driving shaft and a rotary driving shell; the invention uses hydraulic pressure as power, has double degrees of freedom of direct motion and rotation, resists the whole bending moment by two groups of bearings, transmits large torque by the spline, and is suitable for heavy load working conditions. The mechanical claw has compact structure, complete functions, high integration and excellent engineering application prospect.
Description
Technical Field
The invention belongs to the field of hydraulic engineering, relates to mechanical claw parts such as a hydraulic robot, a hydraulic mechanical arm and the like, and particularly relates to a heavy-load hydraulic mechanical claw with double degrees of freedom.
Background
The hydraulic mechanical arm is widely applied to various engineering fields, and is particularly suitable for heavy-duty working conditions. The mechanical claw is used as the extreme end of the hydraulic mechanical arm executing piece, and the bending moment resistance, the torque resistance and the capacity of transmitting heavy load are particularly important. Most of the existing mechanical claws only have opening and closing degrees of freedom, the rotation degrees of freedom of the existing mechanical claws are realized by the aid of mechanical arms, and few mechanical claws with double degrees of freedom are manufactured by non-calibration, so that the existing mechanical claws have no interchangeability of components and are high in cost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a heavy-duty hydraulic mechanical claw with double degrees of freedom.
The aim of the invention is realized by the following technical scheme: a heavy-duty hydraulic gripper with double degrees of freedom comprises a clamping assembly, a direct-acting driving assembly and a rotary driving assembly; the clamping assembly is used for being in direct contact with an operated object to provide clamping force; the direct-acting driving assembly realizes the degree of freedom of direct-acting; the rotation driving assembly realizes rotation freedom degree;
the clamping assembly comprises two parts which are vertically symmetrical, each part comprises a chuck, a chuck connecting rod and a chuck auxiliary rod, and the two parts are connected through a direct-acting connecting rod; the chuck and the chuck connecting rod form a revolute pair; the chuck connecting rod and the direct-acting driving assembly form a revolute pair; the chuck connecting rod and the direct-acting connecting rod form a revolute pair; the chuck and the chuck auxiliary rod form a revolute pair; the chuck auxiliary rod and the direct-acting driving assembly form a revolute pair;
the direct-acting driving assembly is arranged in the direct-acting driving shell and comprises a bracket, a static oil ring, an oil moving ring, a piston and a piston rod; the direct-acting driving shell is provided with an oil port communicated with an oil path of the direct-acting driving assembly; the front end and the rear end of the direct-acting driving assembly are respectively provided with a group of bearings; both the stationary oil ring and the direct drive housing remain stationary; the outer surface of the static oil ring is provided with a plurality of static seal ring grooves which are arranged along the circumferential direction, and static seal is realized between the static oil ring and the direct-acting driving shell through seal rings arranged in the static seal ring grooves; the oil moving ring is connected with the rotary driving assembly through a spline and is fixedly connected with the bracket; the piston is positioned on the central shaft of the oil moving ring, and the piston rod is fixedly connected with the direct-acting connecting rod; the inner surface of the static oil ring is provided with a plurality of dynamic seal grooves which are circumferentially arranged; the dynamic seal is realized between the dynamic oil ring and the static oil ring through a combined sealing piece arranged in the dynamic seal groove; a buffer boss is arranged at the limit position of the piston movement in the movable oil ring;
the oil-retaining ring is provided with two oil-retaining ring oil ports which are respectively used for inputting high-pressure oil supplied from the outside and outputting low-pressure oil to the outside; the inner surface of the oil-static ring is provided with two oil grooves which are arranged along the circumferential direction, and the positions of the oil grooves respectively correspond to the oil ports of the two oil-static rings;
the oil in the two oil tanks of the oil retainer enters the oil retainer through the two outer oil ports respectively to form two oil passages respectively;
the rotary driving assembly comprises a swinging cylinder, a swinging cylinder driving shaft and a rotary driving shell; the spline is processed on the driving shaft of the swinging cylinder, and the rotary driving shell and the direct-acting driving shell are fixedly connected through a connecting plate of the swinging cylinder; the rotary driving shell realizes the communication between oil inlet and return of the swing cylinder and the outside.
Further, a group of bearings formed by two bearing double-row butting is arranged at the front end of the direct-acting driving assembly.
Further, lubricating oil of a bearing arranged at the front end of the direct-acting driving assembly is sealed through an oil seal.
Further, two processing ports are designed on the oil moving ring so as to facilitate processing of the oil liquid channel, and the processing ports are sealed through oil plugs when in use.
Further, the swing driving assembly further comprises an angle encoder, wherein the angle encoder is connected with the swing cylinder driving shaft and used for monitoring the swing angle of the swing cylinder.
A method of clamping an operated object with a heavy duty hydraulic gripper having two degrees of freedom, comprising:
the direct-acting driving assembly realizes the opening and closing actions of the mechanical claw, and is matched with the mechanical claw chuck to complete the clamping action of an operated object, specifically:
when the piston moves forwards, the piston rod forwards pushes the direct-acting connecting rod to forwards, at the moment, the chuck connecting rod rotates, the chuck always keeps the horizontal state of the clamping surface under the pulling of the chuck auxiliary rod, and the mechanical claw opening action is realized through the interaction of all the rotating pairs in the clamping assembly;
when the piston moves back, the direct-acting connecting rod is pulled back through the back of the piston rod, at the moment, the chuck connecting rod moves rotationally, the chuck always keeps the horizontal state of the clamping surface under the pulling of the chuck auxiliary rod, and the mechanical claw closing action is realized through the interaction of all the rotating pairs in the clamping assembly;
the rotary driving assembly realizes the rotary action of the mechanical claw, and the spline drives the oil moving ring to perform rotary motion, so that the whole mechanical claw clamping assembly, the piston rod and the piston are driven to perform rotary motion; the mechanical claw clamping head is matched to clamp the operated object, so that the overturning action of the operated object is realized.
The beneficial effects of the invention are as follows: the mechanical gripper is powered by hydraulic pressure, and the mechanical gripper can move in two degrees of freedom of rotation and direct motion by the rotation driving assembly and the direct motion driving assembly, and the direct motion driving assembly can realize the opening and closing of the mechanical gripper. The slewing drive assembly is connected with the direct-acting drive assembly through a spline to provide larger torque. Through two sets of bearings that are located the gripper middle part, guaranteed gripper overall structure's rigidity, can resist the moment of flexure that produces when heavy load operation, the buffer of direct-acting drive assembly extreme position has been realized to the indent formula buffer chamber, prevents simultaneously that the piston from blocking up the hydraulic fluid port, has guaranteed gripper overall structure's compactness. The mechanical claw has double degrees of freedom of rotation and direct motion, is suitable for heavy load working conditions, and has excellent engineering application prospect.
Drawings
FIG. 1 is an overall isometric view of a heavy duty hydraulic gripper with two degrees of freedom;
FIG. 2 is a cross-sectional view of a gripper;
FIG. 3 is a cross-sectional view of a stationary oil ring;
FIG. 4 is a cross-sectional view of the oil slinger;
fig. 5 is a schematic diagram of a degree of freedom implementation.
Detailed Description
The invention is described in further detail below with reference to the drawings and the specific embodiments.
The invention provides a heavy-duty hydraulic mechanical claw with double degrees of freedom, which comprises a clamping assembly 1, a direct-acting driving assembly 2 and a rotary driving assembly 3; wherein, the clamping component 1 is used for directly contacting an operated object to provide clamping force; the linear motion driving assembly 2 realizes the degree of freedom of linear motion; the swing drive assembly 3 achieves a degree of freedom of swing.
As shown in fig. 1 and 2, the clamping assembly 1 comprises two parts which are vertically symmetrical, each part comprises a chuck 1.1, a first chuck rotating shaft 1.2, a first bearing 1.3, a chuck connecting rod 1.4, a second bearing 1.5, a connecting rod rotating shaft 1.6, a third bearing 1.7, a second chuck rotating shaft 1.8, a chuck auxiliary rod 1.9 and a straight-acting connecting rod rotating shaft 1.10, and the two parts are connected through a straight-acting connecting rod 1.11. The chuck 1.1 and the chuck connecting rod 1.4 form a revolute pair through the first chuck rotating shaft 1.2 and the first bearing 1.3. Similarly, the chuck connecting rod 1.4 and the direct-acting driving assembly 2 form a revolute pair through a second bearing 1.5 and a connecting rod rotating shaft 1.6; the chuck 1.1 and the chuck auxiliary rod 1.9 form a revolute pair through a third bearing 1.7 and a second chuck rotating shaft 1.8; the chuck connecting rod 1.4 forms a revolute pair through the direct-acting connecting rod rotating shaft 1.10 and the direct-acting connecting rod 1.11. The chuck auxiliary rod 1.9 and the direct-acting driving assembly 2 form a revolute pair. The rotating pairs can realize the relative rotation of all parts of the clamping assembly, and the direct motion generated by the piston rod 2.8 can be converted into the opening and closing motion of the whole clamping assembly through the rotation of all the rotating pairs. Specific degrees of freedom for opening and closing are described below in conjunction with fig. 5.
As shown in fig. 1, 2 and 3, the linear motion driving assembly 2 realizes the degree of freedom of linear motion, where the linear motion driving housing 2.4 includes the whole linear motion driving assembly 2, and through the oil port on the linear motion driving housing 2.4, the circulation of the oil inside the linear motion driving assembly 2 and the outside can be realized, the double-row opposite top of the fourth bearing 2.2 and the fifth bearing 2.3 is used as a first group of bearings, the sixth bearing 2.5 is separately used as a second group of bearings, and the two groups of bearings are respectively distributed at the front end and the rear end of the linear motion driving assembly 2 and are located at the front end and the rear end of the middle section of the whole mechanical claw, so that the bending moment applied to the whole mechanical claw during heavy load operation can be effectively resisted. The oil seal 2.1 is used for sealing lubricating oil liquid of the bearing. Both the stationary oil ring 2.6 and the direct drive housing 2.4 remain stationary and do not perform a rotary motion. The outer surface of the static oil ring 2.6 is provided with three first static seal ring grooves 2.6.1, second static seal ring grooves 2.6.3 and third static seal ring grooves 2.6.5 which are circumferentially arranged, and static seal is realized between the static oil ring 2.6 and the direct-acting driving shell 2.4 through seal rings arranged in the first static seal ring grooves 2.6.1, the second static seal ring grooves 2.6.3 and the third static seal ring grooves 2.6.5. The oil moving ring 2.7 is connected with the rotary driving assembly 3 through a spline 3.4, the spline 3.4 can transmit large torque so as to realize turnover functions and the like after the mechanical claw clamps a heavy object, the oil moving ring 2.7 is fixedly connected with the bracket 2.10 through bolts, and the bracket 2.10 is fixedly connected with the chuck connecting rod 1.4 of the mechanical claw clamping assembly 1 to form a revolute pair through the second bearing 1.5 and the connecting rod rotating shaft 1.6; the piston 2.9 is positioned on the central shaft of the oil moving ring 2.7, and the piston rod 2.8 is fixedly connected with the direct-acting connecting rod 1.11 through a bolt; the spline 3.4 drives the oil moving ring 2.7 to rotate, so that the whole mechanical claw clamping assembly 1, the piston rod 2.8 and the piston 2.9 are driven to rotate. The inner surface of the static oil ring 2.6 is provided with three first dynamic seal grooves 2.6.6, second dynamic seal grooves 2.6.7 and third dynamic seal grooves 2.6.8 which are arranged along the circumferential direction; the dynamic seal is realized between the dynamic oil ring 2.7 and the static oil ring 2.6 by combined sealing pieces which are arranged in the first dynamic seal groove 2.6.6, the second dynamic seal groove 2.6.7 and the third dynamic seal groove 2.6.8 of the static oil ring.
As shown in fig. 3, the oil-static ring 2.6 in the direct-acting driving assembly 2 is provided with a first oil-static ring oil port 2.6.2 and a second oil-static ring oil port 2.6.4, which are used for inputting high-pressure oil supplied to the direct-acting driving assembly 2 from outside and outputting low-pressure oil in the direct-acting driving assembly 2 to outside. The inner surface of the oil slinger 2.6 is provided with a first oil groove 2.6.9 and a second oil groove 2.6.10 which are arranged along the circumferential direction, and the positions of the first oil slinger oil port 2.6.2 and the second oil slinger oil port 2.6.4 respectively correspond to the positions of the oil slinger oil ports, so that oil can be distributed and the oil slinger can perform relative rotation motion.
As shown in fig. 4, a first oil-moving ring outer oil port 2.7.3 and a second oil-moving ring outer oil port 2.7.8 are designed on the oil-moving ring 2.7 in the direct-acting driving assembly 2, and oil in the first oil groove 2.6.9 and the second oil groove 2.6.10 in the oil-moving ring 2.6 can enter the oil-moving ring 2.7 through the first oil-moving ring outer oil port 2.7.3 and the second oil-moving ring outer oil port 2.7.8 to form a first oil channel 2.7.2 and a second oil channel 2.7.7 respectively. In the processing process, in order to facilitate the processing of the first oil liquid channel 2.7.2, a first processing port 2.7.1 and a second processing port 2.7.4 are designed on the oil moving ring 2.7, and the two processing ports are blocked by oil in actual use. The buffer boss 2.7.6 is arranged at the movement limit position of the piston 2.9 in the oil moving ring 2.7, so that the buffer effect of the limit position can be achieved when the mechanical gripper is closed, a certain space is provided for oil to enter the oil moving ring when the mechanical gripper is closed at the limit position, and the situation that the oil acting area is insufficient due to the fact that the oil port is blocked when the piston 2.9 is positioned at the limit position is prevented.
As shown in fig. 2, 3, 4 and 5, the following is the communication condition of the oil path in the direct-acting driving assembly 2 when the mechanical claw performs the opening and closing movement: the piston 2.9 can move forwards and backwards in the oil moving ring 2.7, when the piston 2.9 moves forwards, the piston rod 2.8 forwards pushes the direct-acting connecting rod 1.11 to move forwards, at the moment, the chuck connecting rod 1.4 rotates by taking the connecting rod rotating shaft 1.6 as a rotation center, at the moment, the chuck 1.1 rotates around the first chuck rotating shaft 1.2 under the pulling of the chuck auxiliary rod 1.9, so that the chuck 1.1 always keeps the horizontal state of the clamping surface, and the opening action of the mechanical claws is realized through the interaction of all rotating pairs in the clamping assembly 1; when the piston 2.9 moves back, the direct-acting connecting rod 1.11 is pulled back through the piston rod 2.8, at the moment, the chuck connecting rod 1.4 rotates by taking the connecting rod rotating shaft 1.6 as a rotation center, at the moment, the chuck 1.1 rotates around the first chuck rotating shaft 1.2 under the pulling of the chuck auxiliary rod 1.9, so that the chuck 1.1 always keeps the horizontal state of the clamping surface, and the mechanical claw closing action is realized through the interaction of all rotating pairs in the clamping assembly 1. In the mechanical claw closing process, high-pressure oil enters the first oil groove 2.6.9 from the first oil-moving ring oil port 2.6.2, passes through the first oil-moving ring outer oil port 2.7.3 and the first oil-moving ring inner oil port 2.7.5, enters the oil-moving ring 2.7, acts on one end of a rod of the piston 2.9 in the oil-moving ring, and low-pressure oil enters the oil-moving ring second oil groove 2.6.10 from the second oil-moving ring outer oil port 2.7.8 through the second oil-moving ring outer oil port 2.7.7 and is output to the outside from the second oil-moving ring oil port 2.6.4. In the mechanical claw opening process, high-pressure oil enters the second oil groove 2.6.10 from the second oil-static ring oil port 2.6.4, enters the east ring through the second oil-static ring outer oil port 2.7.8 and passes through the second oil channel 2.7.7, acts on one rodless end of the piston 2.9 in the oil-static ring, and enters the oil-static ring first oil groove 2.6.9 from the first oil-static ring outer oil port 2.7.3 through the first oil channel 2.7.2, and is output to the outside through the first oil-static ring oil port 2.6.2.
As shown in fig. 1 and 2, the slewing drive assembly 3 realizes a slewing degree of freedom, and comprises a swinging cylinder 3.3, a swinging cylinder driving shaft 3.5, a slewing drive housing 3.2 and an angle encoder 3.6. The spline 3.4 is processed on the swing cylinder driving shaft 3.5, and the rotary driving shell 3.2 and the direct-acting driving shell 2.4 are fixedly connected through a swing cylinder connecting plate 3.1 by bolts; the angle encoder 3.6 is connected with the swing cylinder driving shaft 3.5 and monitors the swing angle of the swing cylinder. The rotary driving shell 3.2 can realize the communication between oil inlet and return of the swinging cylinder 3.3 and the outside.
The working process of the invention is as follows:
(1) Mounting a heavy-duty hydraulic gripper to the hydraulic mechanical arm;
(2) The pipe joints of the direct-acting driving assembly and the rotary driving assembly of the mechanical claw are respectively connected with a high-pressure oil source, a low-pressure oil source and the like;
(3) After debugging, testing the hydraulic mechanical claw;
(4) The direct-acting driving assembly realizes the opening and closing actions of the mechanical claw, and the clamping action of the operated object can be completed by matching with the mechanical claw clamping head;
(5) The rotary driving assembly realizes the rotary action of the mechanical claw, and can realize the actions such as turning over the operated object by matching with the clamping head of the mechanical claw to clamp the operated object.
Finally, it should be noted that the above description is only a specific application example of the present invention, and various forms of the direct-acting driving assembly and the rotary driving assembly may be designed according to the needs, and obviously other application examples which are the same as the basic principles of the present invention should also belong to the protection scope of the present invention.
Claims (6)
1. The heavy-duty hydraulic gripper with the double degrees of freedom is characterized by comprising a clamping assembly (1), a direct-acting driving assembly (2) and a rotary driving assembly (3); the clamping assembly (1) is used for being in direct contact with an operated object to provide clamping force; the linear motion driving component (2) realizes the degree of freedom of linear motion; the rotary driving assembly (3) realizes the degree of freedom of rotation;
the clamping assembly (1) comprises two parts which are vertically symmetrical, each part comprises a chuck (1.1), a chuck connecting rod (1.4) and a chuck auxiliary rod (1.9), and the two parts are connected through a direct-acting connecting rod (1.11); the chuck (1.1) and the chuck connecting rod (1.4) form a revolute pair; the chuck connecting rod (1.4) and the direct-acting driving assembly (2) form a revolute pair; the chuck connecting rod (1.4) and the direct-acting connecting rod (1.11) form a revolute pair; the chuck (1.1) and the chuck auxiliary rod (1.9) form a revolute pair; the chuck auxiliary rod (1.9) and the direct-acting driving assembly (2) form a revolute pair;
the direct-acting driving assembly (2) is arranged in the direct-acting driving shell (2.4) and comprises a bracket (2.10), an oil-static ring (2.6), an oil-moving ring (2.7), a piston (2.9) and a piston rod (2.8); an oil port communicated with an oil path of the direct-acting driving assembly (2) is formed in the direct-acting driving shell (2.4); the front end and the rear end of the direct-acting driving assembly (2) are respectively provided with a group of bearings; both the stationary oil ring (2.6) and the direct drive housing (2.4) remain stationary; the outer surface of the static oil ring (2.6) is provided with a plurality of static seal ring grooves which are arranged along the circumferential direction, and static seal is realized between the static oil ring (2.6) and the direct-acting driving shell (2.4) through seal rings arranged in the static seal ring grooves; the oil moving ring (2.7) is connected with the rotary driving assembly (3) through a spline (3.4), and the oil moving ring (2.7) is fixedly connected with the bracket (2.10); the piston (2.9) is positioned on the central shaft of the oil moving ring (2.7), and the piston rod (2.8) is fixedly connected with the direct-acting connecting rod (1.11); the inner surface of the oil-static ring (2.6) is provided with a plurality of dynamic seal grooves which are circumferentially arranged; the dynamic seal is realized between the dynamic oil ring (2.7) and the static oil ring (2.6) through a combined sealing piece arranged in the dynamic seal groove; a buffer boss (2.7.6) is arranged at the movement limit position of the piston (2.9) in the oil moving ring (2.7);
two oil ports of the oil ring are designed on the oil ring (2.6) and are respectively used for inputting high-pressure oil supplied by the outside and outputting low-pressure oil to the outside; the inner surface of the oil-static ring (2.6) is provided with two oil grooves which are arranged along the circumferential direction, and the positions of the oil grooves respectively correspond to the oil ports of the two oil-static rings;
two outer oil ports are designed on the oil moving ring (2.7), and oil in two oil tanks of the oil static ring (2.6) enters the oil moving ring (2.7) through the two outer oil ports respectively to form two oil passages respectively;
the rotary driving assembly (3) comprises a swinging cylinder (3.3), a swinging cylinder driving shaft (3.5) and a rotary driving shell (3.2); the spline (3.4) is processed on the swing cylinder driving shaft (3.5), and the rotary driving shell (3.2) and the direct-acting driving shell (2.4) are fixedly connected through the swing cylinder connecting plate (3.1); the rotary driving shell (3.2) realizes the communication between oil inlet and return of the swing cylinder (3.3) and the outside.
2. A heavy duty hydraulic gripper according to claim 1, characterized in that the front end of the direct drive assembly (2) is fitted with a set of bearings formed by two bearing double row pairs.
3. A heavy duty hydraulic gripper according to claim 1, characterized in that the bearing mounted at the front end of the direct drive assembly (2) is sealed with lubricating oil by means of an oil seal (2.1).
4. A heavy duty hydraulic gripper according to claim 1, characterized in that two machining ports are designed in the oil ring (2.7) to facilitate machining of the oil channel, the machining ports being sealed in use by oil plugs.
5. A heavy duty hydraulic gripper according to claim 1, characterized in that the swing drive assembly (3) further comprises an angle encoder (3.6), the angle encoder (3.6) being connected to the swing cylinder drive shaft (3.5) for monitoring the swing cylinder swing angle.
6. A method of gripping an operated object with the hydraulic gripper according to any one of claims 1 to 5, characterized by comprising:
the direct-acting driving assembly (2) realizes the opening and closing actions of the mechanical claw, and is matched with the mechanical claw chuck to complete the clamping action of an operated object, specifically:
when the piston (2.9) moves forwards, the piston rod (2.8) moves forwards to push the direct-acting connecting rod (1.11) to move forwards, at the moment, the chuck connecting rod (1.4) rotates, the chuck (1.1) always keeps the horizontal state of the clamping surface under the pulling of the chuck auxiliary rod (1.9), and the mechanical claw opening action is realized through the interaction of all rotating pairs in the clamping assembly (1);
when the piston (2.9) moves back, the straight-acting connecting rod (1.11) is pulled back through the piston rod (2.8), at the moment, the chuck connecting rod (1.4) rotates, the chuck (1.1) always keeps the horizontal state of the clamping surface under the pulling of the chuck auxiliary rod (1.9), and the mechanical claw closing action is realized through the interaction of all rotating pairs in the clamping assembly (1);
the rotary driving assembly (3) realizes the rotary action of the mechanical claw, and the spline (3.4) drives the oil moving ring (2.7) to perform rotary motion, so that the whole mechanical claw clamping assembly (1), the piston rod (2.8) and the piston (2.9) are driven to perform rotary motion; the mechanical claw clamping head is matched to clamp the operated object, so that the overturning action of the operated object is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811615072.1A CN109465844B (en) | 2018-12-27 | 2018-12-27 | Heavy-duty hydraulic mechanical claw with double degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811615072.1A CN109465844B (en) | 2018-12-27 | 2018-12-27 | Heavy-duty hydraulic mechanical claw with double degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109465844A CN109465844A (en) | 2019-03-15 |
| CN109465844B true CN109465844B (en) | 2023-10-27 |
Family
ID=65677200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811615072.1A Active CN109465844B (en) | 2018-12-27 | 2018-12-27 | Heavy-duty hydraulic mechanical claw with double degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109465844B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761607B (en) * | 2020-06-18 | 2021-04-30 | 敬科(深圳)机器人科技有限公司 | Dynamic and static seal combined modular joint of cooperative robot |
| US20220193934A1 (en) * | 2020-12-23 | 2022-06-23 | Delaware Capital Formation, Inc. | Gripper Jaw Sensor |
| CN113305870B (en) * | 2021-06-30 | 2022-08-05 | 雅安恒成精密刀具有限公司 | Cutter bar type air pressure clamping jaw with air pressure system |
| CN117428815B (en) * | 2023-12-21 | 2024-04-05 | 浙江大学 | Two-degree-of-freedom compact hydraulic paw for heavy-duty application |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440939A (en) * | 2014-11-13 | 2015-03-25 | 哈尔滨工程大学 | Small underwater hydraulic mechanical arm two-stage drive joint |
| CN206066459U (en) * | 2016-09-28 | 2017-04-05 | 洛阳理工学院 | Carry and use multiple degrees of freedom hydraulic driving mechanical in a kind of workshop |
| CN106695777A (en) * | 2015-07-30 | 2017-05-24 | 国家电网公司 | Hydraulic manipulator |
| CN106737649A (en) * | 2017-01-17 | 2017-05-31 | 航天重型工程装备有限公司 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN207522634U (en) * | 2017-10-30 | 2018-06-22 | 桂林电子科技大学 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070090611A1 (en) * | 2005-10-18 | 2007-04-26 | Hardinge, Inc. | Hydraulic workholding assembly |
-
2018
- 2018-12-27 CN CN201811615072.1A patent/CN109465844B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440939A (en) * | 2014-11-13 | 2015-03-25 | 哈尔滨工程大学 | Small underwater hydraulic mechanical arm two-stage drive joint |
| CN106695777A (en) * | 2015-07-30 | 2017-05-24 | 国家电网公司 | Hydraulic manipulator |
| CN206066459U (en) * | 2016-09-28 | 2017-04-05 | 洛阳理工学院 | Carry and use multiple degrees of freedom hydraulic driving mechanical in a kind of workshop |
| CN106737649A (en) * | 2017-01-17 | 2017-05-31 | 航天重型工程装备有限公司 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN207522634U (en) * | 2017-10-30 | 2018-06-22 | 桂林电子科技大学 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
Non-Patent Citations (1)
| Title |
|---|
| 轻型液压平动搬运机械手研制;谭益松;任立敏;陈国君;;液压与气动(08);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109465844A (en) | 2019-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109465844B (en) | Heavy-duty hydraulic mechanical claw with double degrees of freedom | |
| US8347779B2 (en) | Rotary actuator | |
| CN104440939B (en) | Small underwater hydraulic efficiency manipulator secondary drive joint | |
| CN107351118B (en) | Light and flexible hydraulic mechanical arm rotating structure | |
| US5267504A (en) | Rotary actuator with annular fluid coupling rotatably mounted to shaft | |
| CN103671344B (en) | Pumping oil cylinder and pumping equipment comprising same | |
| CN213392939U (en) | Inner-cooling type rotary oil cylinder | |
| CN102581328A (en) | Front swinging cylinder-type hollow hydraulic chuck | |
| CN111878176A (en) | Bidirectional reversible fluid power engine | |
| CN211116894U (en) | Heavy-load rack swing oil cylinder | |
| CN219444073U (en) | O-shaped ring assembling device | |
| CN216802647U (en) | Powerful brake equipment of revolving stage | |
| CN212367042U (en) | Waterproof servo electric cylinder | |
| CN103712015B (en) | 4 thrust angular contact formula swivel joints | |
| CN213858187U (en) | Sleeve type collet central frame structure | |
| CN209350274U (en) | A kind of overload hydraulic gripper with double freedom | |
| CN109441709B (en) | Compact type large-torque anti-pollution gear hydraulic motor | |
| CN211709349U (en) | Two-degree-of-freedom underwater manipulator | |
| CN220241513U (en) | Clamp with quick-change interface | |
| CN209743287U (en) | servo spiral oscillating cylinder controlled by high-speed switch valve | |
| CN107218265A (en) | A kind of rotatable double acting hydraulic cylinder | |
| CN209647937U (en) | A kind of vertical pneumatic rotating device | |
| CN203009442U (en) | Rotary cylinder of fixture body | |
| CN207318012U (en) | Passage plugging device | |
| CN107052769B (en) | Locking device of rotating assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |